Design and Simulation of a 5-DOF Anthropomorphic Robot for Shoulder Rehabilitation Due to Osteoarthritis

Silva G.A.S.; Castillo M.F.G.; Acosta A.N.; Malpartida E.A.S.; Felipe J.L.B.; Alvarez N.M.R. · 2026 12th International Conference on Mechatronics and Robotics Engineering, ICMRE 2026 (2026) · DOI: 10.1109/icmre69538.2026.11533863

Resumen

This project focuses on the design and development of an automatic rehabilitation machine for patients with grade II osteoarthritis, based on a five-degree-of-freedom (5DOF) anthropomorphic robot intended to assist shoulder mobility therapies. The system is conceived to reproduce natural movements with high precision and efficiency, ensuring reliable mechanical support during rehabilitation routines. The structural design aims to optimize the mechanism's resistance to the torques and moments generated along various motion trajectories, ensuring durability and operational stability. Additionally, the design process incorporates anthropometric parameters based on the average height of Peruvian men and women, enabling the mechanism to provide an adjustable height range that accommodates individual user dimensions. This research seeks to validate the robot's capability to maintain efficient performance under variable loads by considering both static and dynamic behavior, delivering a robust and precise tool that contributes to improving the quality and consistency of rehabilitation treatments.

Instituciones: Universidad Peruana de Ciencias Aplicadas; Universidad San Ignacio de Loyola